/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "ArExport.h"

#include "ariaOSDef.h"
#include "ArActionLimiterTableSensor.h"
#include "ArRobot.h"

AREXPORT ArActionLimiterTableSensor::ArActionLimiterTableSensor(
	const char *name) :
  ArAction(name, "Limits speed to 0 if a table is seen")
{

}

AREXPORT ArActionLimiterTableSensor::~ArActionLimiterTableSensor()
{
}

AREXPORT ArActionDesired *ArActionLimiterTableSensor::fire(
	ArActionDesired currentDesired)
{
  myDesired.reset();

  if (myRobot->hasTableSensingIR() && 
      ((myRobot->isLeftTableSensingIRTriggered()) ||
      (myRobot->isRightTableSensingIRTriggered())))
  {
    myDesired.setMaxVel(0);
    return &myDesired;
  }
  return NULL;  
}
